A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path | Zendy

Yuan Chen | Zendy; Bing Li | Zendy

Open Access

A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path

Author(s) -

Yuan Chen,

Bing Li

Publication year - 2011

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/45707

Subject(s) - jerk , piecewise , acceleration , computer science , kinematics , control theory (sociology) , trajectory , motion planning , mathematical optimization , optimal control , path (computing) , function (biology) , robot , mathematics , control (management) , artificial intelligence , mathematical analysis , physics , classical mechanics , astronomy , evolutionary biology , biology , programming language

This paper proposes a piecewise acceleration-optimal and smooth-jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both the time intervals between two interpolation points and the control points of B-spline function as optimal variables, redefine the kinematic constraints as the constraints of optimal variables, and reformulate the objective function in matrix form. The feasibility of the optimal method is illustrated by simulation and experimental results with pan mechanism for cooking robot

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research